cmake_minimum_required(VERSION 3.8)
project(qr_recognition)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclpy REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(std_msgs REQUIRED)
find_package(action_msgs REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rosidl_default_generators REQUIRED)

# 生成action接口
rosidl_generate_interfaces(${PROJECT_NAME}
  "action/RecognizeQR.action"
  DEPENDENCIES sensor_msgs std_msgs action_msgs
)

# 安装Python脚本
install(PROGRAMS
  scripts/qr_recognition_server.py
  DESTINATION lib/${PROJECT_NAME}
)

# 安装配置文件
install(DIRECTORY
  config/
  DESTINATION share/${PROJECT_NAME}/config
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
